JP6460645B2 - Bonding assembly equipment - Google Patents

Description

  The present invention relates to a joining / assembling apparatus for assembling a joining / assembling frame that forms the framework of an automobile, for example.

  2. Description of the Related Art Conventionally, a large number of joined assembly tubes in which two or more metal cylinder members are assembled and extended by joining their end portions to each other are used for a vehicle body that forms the framework of an automobile. These joint assembly pipes are generally assembled by a joint assembly apparatus. For example, the joint assembly apparatus disclosed in Patent Document 1 grips one side of a first cylinder member and moves the first cylinder member in a horizontal direction. And a second chuck mechanism that grips the middle part of the second cylindrical member and extends the second cylindrical member in a horizontal direction. When the second cylinder member is gripped, one end of the second cylinder member is abutted against the other end of the first cylinder member. On the side of the first chuck mechanism, there is provided a turning positioner that turns around the first cylindrical member gripped by the first chuck mechanism, and the turning positioner is for industrial use in which a welding torch is gripped at the arm tip. A robot is installed. And the front end of the welding torch is made to correspond to the butting position of the first and second cylindrical members, and the butting position is continuously welded with the welding torch while the swivel positioner is swung around the first cylinder member. Thus, the first and second cylinder members are assembled.

JP 2009-220156 A

  By the way, in Patent Document 1, the second chuck mechanism grips the middle part of the second cylindrical member. However, in the joining assembly pipe as described above, metal parts can be joined at a plurality of locations in the circumferential direction on the outer circumferential surface. In some cases, the second chuck mechanism needs to grip the other end of the second cylindrical member in order to avoid interference with the components to be assembled. If it does so, a joining assembly pipe will be assembled in the state where the one end side of the 2nd cylinder member bent below, and there exists a possibility that the joining assembly frame completed after that may become a thing with bad assembly accuracy.

  In order to avoid this, a support member that supports one end of the second cylinder member is provided so as not to interfere with the assembly of the metal parts, or a separate process is provided to join the metal parts in the separate process. Although it can be considered to be assembled in an assembly pipe, in the former case, the equipment becomes complicated and the cost of parts increases, and in the latter case, the equipment cost increases and the equipment becomes larger and occupies a large space.

  The present invention has been made in view of such a point, and an object of the present invention is to provide a low-cost and compact joint assembly apparatus that can accurately assemble a joint assembly frame. It is in.

  In order to achieve the above object, the present invention is characterized in that the posture of the assembly pipe is devised when performing the joining operation.

That is, in the first invention, it is possible to rotate an assembly pipe assembled by fitting two cylinder members together while holding both ends of the assembly pipe in a posture in which the cylinder center line faces in the vertical direction. A rotating jig, component fixing means arranged on the side of the rotating jig and pressed against an outer peripheral surface of the assembly pipe to be assembled to the assembly pipe, and the rotating jig, The overlapping portion of the assembly tube disposed on the side of the component fixing means and held by the rotating jig, or the overlapping portion of the assembly part with the assembly tube fixed by the component fixing means Joining means for joining, a laser oscillator for amplifying the light to obtain laser light, and irradiating the laser light obtained by the laser oscillator toward the assembly tube or the part to be assembled a machining head for bonding work time odor , The machining head and a vertically moving means for vertically moving along the longitudinal direction of the assembly line, the machining head, the assembly tube with a laser beam obtained by the laser oscillator or part mounted above the assembly And a laser beam irradiation position is changed by changing an inclination angle of the mirror during laser beam irradiation.

  According to a second invention, in the first invention, the joining means includes a horizontal moving means for horizontally moving the machining head so as to be able to approach and separate from the rotating jig.

  In 1st invention, when joining the superposition | polymerization part of an assembly pipe, the assembly pipe becomes the attitude | position extended in an up-down direction, and does not bend. Therefore, a support member that prevents the assembly tube from being bent is not required, and a joining assembly frame with good dimensional accuracy can be formed with equipment that does not cost much. Further, since the outer peripheral surface of the assembly pipe can be directed toward the joining means in the entire circumferential region by the rotation operation by the rotating jig, the outer peripheral surface of the assembly pipe can be joined in the circumferential direction. . In addition, the assembly part can be joined to the assembly pipe in the process of joining the overlapping parts of the assembly pipe, so there is no need to provide a separate process for joining the part to be assembled to the assembly pipe, and a compact facility that does not occupy a large space Can be.

  In addition, since the welding of the overlapped part in the assembly pipe or the part to be assembled to the assembly pipe is performed by laser welding, the thermal distortion around the joint in the completed joint assembly frame can be reduced, and the joint assembly frame can be reduced. Furthermore, it can be assembled with high accuracy.

  Furthermore, since the machining head can move over the entire length of the assembly pipe, welding can be performed over the entire length of the assembly pipe.

  In addition, since the laser beam irradiation position can be greatly changed by a small movement of the mirror, the laser beam irradiation position can be instantaneously moved to each welding point, and can be used for all bonding operations in the bonding assembly frame. This time can be shortened.

  In the second invention, the machining head can be moved closer to and away from the assembly tube, so that the joining position of the joining means to the assembly tube or the part to be assembled can be finely adjusted.

It is a schematic front view of the joining assembly apparatus which concerns on embodiment of this invention. It is sectional drawing in the AA of FIG. FIG. 2 is a diagram corresponding to FIG. FIG. 2 is a view corresponding to FIG. 1 showing a state in which the overlapped portion between the assembly pipe and the assembly part has started to be welded. It is sectional drawing in the BB line of FIG. FIG. 2 is a view corresponding to FIG. 1 and showing a state in the middle of welding the overlapped portion between the assembly pipe and the assembly part. It is sectional drawing in the CC line of FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following description of the preferred embodiment is merely exemplary in nature.

  FIG.1 and FIG.2 shows the joining assembly apparatus 1 which concerns on embodiment of this invention. The joint assembly apparatus 1 assembles a vehicle body frame 10 (joint assembly frame) called a so-called instrument panel member located inside an instrument panel of an automobile, and a main body frame 2 that forms the skeleton of the apparatus and a rotation axis. A rotating jig 3 that faces in the vertical direction, an industrial robot 4 (part fixing means) that can grip and convey parts, and a laser welding machine 5 (welding means) that performs laser welding are provided.

  The vehicle body frame 10 includes a first instrument panel pipe 10a (cylindrical member) in which a portion excluding one end portion in the longitudinal direction is expanded, and a second instrument panel pipe 10b that is internally fitted to one end side of the first instrument panel pipe 10a. (Cylindrical member) and an instrument panel bracket 10c (part to be assembled) attached to an outer peripheral surface on one end side of the first instrument panel pipe 10a in a posture intersecting with the longitudinal direction of the first instrument panel pipe. In addition, the overlapping portions of the second instrument panel pipes 10a and 10b are connected by welding, and the overlapping portions of the first instrument panel pipe 10a and the instrument panel bracket 10c are connected by welding.

  The main body frame 2 has an upper base plate 21 and a lower base plate 22 that are opposed to each other in the vertical direction, and the upper and lower base plates 21 and 22 are connected by a connecting shaft that extends in the vertical direction (not shown).

  The rotating jig 3 includes an upper jig 31 fixed to the lower surface of the upper base plate 21 and a lower jig 32 placed on the lower base plate 22, and the upper jig 31 and the lower jig The jig 32 faces up and down.

  The upper jig 31 includes an upper chuck mechanism 33 that can freely rotate with its rotation axis oriented in the vertical direction, and the upper chuck mechanism 33 includes a pair of upper gripping portions 33a that can approach and separate in the horizontal direction. Yes.

  On the other hand, the lower jig 32 includes a jig case 34 having a substantially trapezoidal shape in a side view, and a servo motor 35 having a rotation axis oriented in the vertical direction is provided inside the jig case 34. Yes.

  The upper surface of the jig case 34 is provided with a lower chuck mechanism 36 having a pair of lower gripping portions 36a that can approach and separate in the horizontal direction. The lower chuck mechanism 36 rotates the servo motor 35. It is designed to rotate around a rotation axis that is directed in the vertical direction in conjunction with driving.

  Then, as shown in FIG. 3, one end of the assembly tube 11 assembled by fitting one end of the second instrument panel pipe 10 b into one end of the first instrument panel pipe 10 a is assembled by the upper chuck mechanism 33. When the other end of the assembly tube 11 is gripped by the lower chuck mechanism 36 and the servo motor 35 is driven to rotate, the assembly tube 11 is held in a posture in which the cylinder center line is directed in the vertical direction. It rotates around the cylinder center line.

  The industrial robot 4 is disposed on the side of the rotating jig 3, and as shown in FIGS. 4 and 5, the instrument panel bracket 10c assembled to the assembly pipe 11 is gripped by the tip of the arm portion 4a. The assembly tube 11 is pressed against and fixed to the outer peripheral surface.

  The laser welding machine 5 is disposed on the side of the rotating jig 3 and the industrial robot 4 and has a substantially prismatic first shape extending in the vertical direction connecting the upper base plate 21 and the lower base plate 22. One slide rail 51, a first slider 52 (vertical movement means) that is slidably fitted in the vertical direction to the rotation jig 3 side of the first slide rail 51, and attached to the side of the first slider 52 A second slide rail 56 extending in the horizontal direction approaching and separating from the rotating jig 3, and a second slide rail 56 that is slidably fitted on the side opposite to the first slider 52 of the second slide rail 56 so as to be slidable in the horizontal direction. 2 sliders 57 (horizontal movement means). The laser welding machine 5 includes a laser oscillator 53 that amplifies light to obtain a laser beam Lz, a machining head 54 attached to the first slider 52, and a gap between the machining head 54 and the laser oscillator 53. And the first slider 52 moves up and down along the first slide rail 51 so that the machining head 54 moves up and down (moves in the Z direction in FIG. 1). ) And the second slider 57 slides along the second slide rail 56, whereby the machining head 54 moves horizontally (moves in the X direction in FIG. 1).

  The processing head 54 includes a substantially block-shaped casing 54a having an internal space S, and a mirror 54b that is disposed in the internal space S and can change an inclination angle by a drive motor (not shown). The laser beam Lz obtained by the laser oscillator 53 and transmitted by the optical fiber cable 55 is reflected toward the assembly tube 11 or the instrument panel bracket 10c.

  The rotating jig 3, the industrial robot 4 and the laser welding machine 5 are connected to a control unit 6 for outputting an operation signal to the rotating jig 3, the industrial robot 4 and the laser welding machine 5. Yes.

  As shown in FIGS. 3, 6, and 7, the control unit 6 outputs an operation signal to the servo motor 35 of the rotating jig 3 to rotate the assembly tube 11, thereby rotating the assembly tube 11 around the cylinder center. At the same time, an operation signal is output to the laser welding machine 5 so that welding is performed by irradiating the overlapping portion of the assembly tube 11 and the overlapping portion of the instrument panel bracket 10c with the assembly tube 11 with laser light Lz. Yes.

  4 and 5, the control unit 6 outputs an operation signal to the industrial robot 4, and the instrument panel bracket 10c is attached to the outer peripheral surface of the assembly tube 11 held by the rotating jig 3. Is pressed and fixed, and an operation signal is output to the laser welding machine 5 to move the slider up and down or horizontally and change the inclination angle of the mirror 54b, and the assembly tube 11 of the instrument panel bracket 10c. Welding is performed by irradiating the superposed portion with laser light Lz.

  Next, the assembly of the vehicle body frame 10 by the joint assembly apparatus 1 will be described.

  First, an operator uses a fitting device (not shown) to fit one end side of the second instrument panel pipe 10b into one end side of the first instrument panel pipe 10a to form an assembly pipe 11, and one of the assembly pipes 11 And the other end of the assembly tube 11 is gripped by the lower chuck mechanism 36 and the assembly tube 11 is set on the rotating jig 3.

  Next, the operator presses a welding start button (not shown). Then, the control unit 6 outputs an operation signal to the laser welding machine 5 to move the machining head 54 to the middle part of the first slide rail 51 as shown in FIG. The tilt angle of the mirror 54b is changed so that the laser beam Lz is irradiated on the portion.

  Then, the control unit 6 outputs an operation signal to the laser welding machine 5 to reflect the laser light Lz obtained by the laser oscillator 53 to the mirror 54b to irradiate the overlapping portion of the assembly tube 11, and By outputting an operation signal to the rotating jig 3 and rotating the assembly pipe 11 around the center line of the cylinder by rotation driving of the servo motor 35, the overlapped portion of the assembly pipe 11 is continuously welded to form the first and the first. Two instrument panel pipes 10a and 10b are connected.

  Next, the control unit 6 outputs a stop signal to the rotating jig 3 and the laser welding machine 5 to stop the rotation of the assembly tube 11 and the irradiation of the laser light Lz, and FIGS. As shown, an operation signal is output to the laser welding machine 5 to raise the machining head 54 and an operation signal is output to the industrial robot 4 to press the instrument panel bracket 10c against the outer peripheral surface of the assembly pipe 11. Fix it.

  After that, the control unit 6 outputs an operation signal to the laser welding machine 5 to irradiate the laser beam Lz, and the irradiation position of the laser beam Lz is at the four sides of the overlapping portion of the instrument panel bracket 10c and the assembly tube 11. Continuous welding is performed while gradually changing the inclination angle of the mirror 54b so as to trace one side downward.

  Thereafter, the control unit 6 outputs a stop signal to the industrial robot 4 and the laser welding machine 5 to stop the pressing of the instrument panel bracket 10c and the irradiation of the laser light Lz to the assembly pipe 11, and FIG. 6, an operation signal is output to the laser welding machine 5 to raise the machining head 54.

  Then, as shown in FIG. 7, the control unit 6 outputs an operation signal to the laser welding machine 5 so that the irradiation position of the laser light Lz is out of the four sides of the overlapping portion of the instrument panel bracket 10 c and the assembly tube 11. The instrument panel bracket 10c is rotated by changing the tilt angle of the mirror 54b so as to be on one side (upper side), irradiating the laser beam Lz and outputting an operation signal to the servo motor 35 to rotate the assembly tube 11. And the superposition | polymerization part of the said assembly pipe 11 is continuously welded.

  In this manner, the control unit 6 operates on the rotating jig 3, the industrial robot 4, and the laser welding machine 5 on the remaining two sides of the four sides of the overlapping portion of the instrument panel bracket 10 c and the assembly pipe 11. A signal is output to perform welding while combining the rotation operation of the rotating jig 3, the pressing operation of the industrial robot 4, the movement operation of the machining head 54 in the laser welding machine 5, and the laser irradiation operation of the laser welding machine 5. A body frame 10 is obtained.

  As described above, according to the embodiment of the present invention, when the overlapping portions of the assembly pipe 11 are joined, the assembly pipe 11 has a posture extending in the vertical direction and does not bend. Therefore, a support member that prevents the assembly tube 11 from being bent is not required, and the vehicle body frame 10 with good dimensional accuracy can be formed with equipment that does not cost much. Further, since the outer peripheral surface of the assembly tube 11 can be directed toward the laser welding machine 5 in the entire circumferential direction by the rotation operation by the rotating jig 3, welding is performed on the outer peripheral surface of the assembly tube 11 in the circumferential direction. It can be performed. Further, since the instrument panel bracket 10c can be joined to the assembly pipe 11 in the process of welding the overlapped portion of the assembly pipe 11, there is no need to separately provide a process for joining the instrument panel bracket 10c to the assembly pipe 11, and the compact does not occupy a large space. Can be equipment.

  Further, since the joining of the overlapped portion in the assembly pipe 11 or the joining of the instrument panel bracket 10c to the assembly pipe 11 is performed by laser welding, the thermal distortion around the joint portion in the completed body frame 10 can be reduced, and the body frame 10 Can be assembled with higher accuracy.

  Further, since the machining head 54 can be moved over the entire longitudinal direction of the assembly tube 11 by the first slide rail 51 and the first slider 52, it is possible to perform welding joining over the entire longitudinal direction of the assembly tube 11. it can.

  Further, since the machining head 54 can be moved toward and away from the assembly tube 11 by the second slide rail 56 and the second slider 57, the welding position of the laser welding machine 5 with respect to the assembly tube 11 or the instrument panel bracket 10c is finely adjusted. be able to.

  Further, since the irradiation position of the laser beam Lz can be greatly changed by a small operation of the mirror 54b, the irradiation position of the laser beam Lz can be instantaneously moved to each joint point, and all the body frames 10 can be moved. The time required for the joining work can be shortened.

  In the embodiment of the present invention, in the joining and assembling apparatus 1, only the instrument panel bracket 10 c is assembled to the assembly tube 11. However, the present invention is not limited to this, and other components such as a steering bracket are used by the industrial robot 4. While being conveyed, it may be pressed against the assembly tube 11 and assembled by welding.

  In the embodiment of the present invention, the parts are pressed against the assembly pipe 11 by one industrial robot 4 and fixed. However, a plurality of industrial robots 4 are attached to the rotating jig 3 side. Alternatively, the plurality of industrial robots 4 may be arranged in the direction and the plurality of parts may be pressed against the assembly pipe 11 and fixed.

  Furthermore, in the embodiment of the present invention, the laser welding machine 5 is used as the joining means, but the present invention is not limited thereto, and the joining may be performed by a welding machine such as arc welding, TIG welding, and plasma welding.

  In addition, in the embodiment of the present invention, laser welding is performed using the machining head 54 in which the mirror 54b is provided, which can change the inclination angle, but the machining head does not have the mirror 54b inside. 54 may be used to perform laser welding.

  The present invention is suitable, for example, for a joining / assembling apparatus for assembling a joining / assembling frame that forms the framework of an automobile.

DESCRIPTION OF SYMBOLS 1 Joining assembly apparatus 3 Rotating jig 4 Industrial robot (part fixing means)
5 Laser welding machine (welding means)
10 Body frame (joint assembly frame)
10a First instrument panel pipe (cylinder member)
10b Second instrument panel pipe (cylinder member)
10c Instrument panel bracket (parts to be assembled)
11 Assembly pipe 52 First slider (vertical movement means)
54 machining head 54b mirror 57 second slider (horizontal movement means)
Lz laser light

Claims (2)

A rotating jig capable of gripping both ends of an assembly tube assembled by fitting two cylindrical members together and holding the both ends in a posture in which the cylindrical center line faces in the vertical direction, and rotating it around the cylindrical center line;
Component fixing means arranged on the side of the rotating jig and pressing and fixing an assembly part to be assembled to the assembly pipe against the outer peripheral surface of the assembly pipe;
The assembly of the assembly part that is arranged on the side of the rotating jig and the component fixing means and is a superposed portion of the assembly tube held by the rotating jig or fixed by the component fixing means A joining means for joining the overlapping portion with the pipe,
The joining means includes a laser oscillator that amplifies light to obtain laser light, a processing head that irradiates the laser light obtained by the laser oscillator toward the assembly tube or the component to be assembled, and a joining operation. And vertical movement means for moving the machining head up and down along the longitudinal direction of the assembly pipe,
The machining head has a mirror that reflects the laser beam obtained by the laser oscillator toward the assembly tube or the assembly target part, and changes the tilt angle of the mirror during laser beam irradiation. A joining and assembling apparatus characterized in that the irradiation position of the laser beam is changed by the above. The joining and assembling apparatus according to claim 1,
The joining and assembling apparatus, wherein the joining means includes a horizontal moving means for horizontally moving the processing head so as to be able to approach and separate from the rotating jig.

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